#include "MinkowskiOperation2.h"
#include "IDomain2.h"


const Vector2 transformedInternalPoint(const IConvexDomain2& domain, const Vector2& translation)
{
	return (domain.internalPoint() + translation);
}

const Vector2 transformedSupportPoint(const IConvexDomain2& domain, const Vector2& translation, const Vector2& normal)
{
	//const Vector normalLocal = q.inverse().rotate(normal);
	const Vector2& normalLocal(normal);
	Vector2 supportLocal = domain.supportPoint(normalLocal);
	//const Vector2 supportWorld = q.rotate(supportLocal) + t;
	const Vector2 supportWorld = supportLocal + translation;
	return supportWorld;
}
